CIMUIntersense.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef CIMUIntersense_H
#define CIMUIntersense_H
 
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/comms/CSerialPort.h>
#include <mrpt/poses/CPose3D.h>
 
namespace mrpt
{
namespace hwdrivers
{
// clang-format off
/** A class for interfacing Intersense Inertial Measuring Units (IMUs).
  *  It connects to a InterSense inertiaCube 3 sensor and records inertial data.
  *  NOTE: This device provides:
  *             - Euler angles,
  *             - 2 angular velocties (body-frame and navigation-frame)
  *             - X,Y,Z velocity
  *             - 2 accelerations (body-frame and navigation-frame)
  *
  *             In order to record all this information within the 'rawMeasurements'
  *vector
  *in mrpt::obs::CObservationIMU, some of it had to be stored in positions which
  *weren't intended for the stored data (marked with *):
  *             - Euler angles --> rawMeasurements[IMU_YAW], rawMeasurements[IMU_PITCH],
  *rawMeasurements[IMU_ROLL]
  *             - Body-frame angular velocity --> rawMeasurements[IMU_YAW_VEL],
  *rawMeasurements[IMU_PITCH_VEL], rawMeasurements[IMU_ROLL_VEL]
  *             - * Nav-frame angular velocity --> rawMeasurements[IMU_MAG_X],
  *rawMeasurements[IMU_MAG_Y], rawMeasurements[IMU_MAG_Z]
  *             - XYZ velocity --> rawMeasurements[IMU_X_VEL],
  *rawMeasurements[IMU_Y_VEL],
  *rawMeasurements[IMU_Z_VEL]
  *             - Body-frame acceleration --> rawMeasurements[IMU_X_ACC],
  *rawMeasurements[IMU_Y_ACC], rawMeasurements[IMU_Z_ACC]
  *             - * Nav-frame acceleration --> rawMeasurements[IMU_X],
  *rawMeasurements[IMU_Y], rawMeasurements[IMU_Z]
  *             Be careful with this when using the grabbed mrpt::obs::CObservationIMU
  *data.
  *
  *  See also the application "rawlog-grabber" for a ready-to-use application to
  *gather data from this sensor.
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    driver           = CIMUIntersense
  *        sensorLabel  = <label>                       ; Label of the sensor
  *    pose_x           = 0                                     ; [double] Sensor 3D position relative to the robot (meters)
  *    pose_y           = 0
  *    pose_z           = 0
  *    pose_yaw         = 0                                     ; [double] Angles in degrees
  *    pose_pitch       = 0
  *    pose_roll        = 0
  *
  *        sensitivity  = 10                            ; [int] Sensor sensitivity (see API documentation)
  *        enhancement  = 2                                     ; [int] Enhancement mode (see API documentation)
  *        prediction   = 0                                     ; [int] Prediction mode (see API documentation)
  *        useBuffer    = 0                                     ; [bool] {0,1} (unused by now) Whether or not use a buffer for storing old data (see API documentation)
  *
  * \endcode
  * \note Class introduced in MRPT 1.3.1
  * \ingroup mrpt_hwdrivers_grp
  */  // clang-format
class CIMUIntersense : public hwdrivers::CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CIMUIntersense)
   protected:
        /** Opaque pointer to specifid iSense IMU structure */
        void* /* ISD_TRACKER_HANDLE* */ m_handles_ptr;
 
        /** Timestamp management */
        uint32_t m_timeStartUI;
        mrpt::system::TTimeStamp m_timeStartTT;
 
        mrpt::poses::CPose3D m_sensorPose;
        int m_nSensors;
 
        /* Configurable parameters */
        uint32_t m_sensitivity;
        uint32_t m_enhancement;
        uint32_t m_prediction;
        bool m_useBuffer;
 
        /** Timeout counter (for internal use only) */
        unsigned int m_toutCounter;
 
        /** See the class documentation at the top for expected parameters */
        void loadConfig_sensorSpecific(
                const mrpt::config::CConfigFileBase& configSource,
                const std::string& iniSection);
 
   public:
        /** Constructor
          */
        CIMUIntersense();
 
        /** Destructor
          */
        virtual ~CIMUIntersense();
 
        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
          *  \exception This method must throw an exception with a descriptive
         * message if some critical error is found.
          */
        void doProcess();
 
        /** Turns on the iSense device and configure it for getting orientation data
         */
        void initialize();
 
};  // end of class
 
}  // end of namespace
}  // end of namespace
 
#endif